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Actually same problem here. Uploaded some recent code and always get that 20cm reading. Was also suspecting a faulty sonar as I haven't used the quad over the rainy season. I better double check then whats going on.

The apm board have very thin wiring print to this 5v pin, try to follow the wiring print from the pin and towards the middle of the board. Try to measur 5v from print wiring, if you meaur 5v solder a wiring from there to 5v pin